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Decentralised adaptive control of a class of interconnected non-linear systems with unknown time delays and dead-zone inputs

Decentralised adaptive control of a class of interconnected non-linear systems with unknown time delays and dead-zone inputs

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This study presents a decentralised adaptive tracking control approach for uncertain large-scale non-linear systems with time-delayed interconnections and unknown non-symmetric dead-zone inputs. The interaction terms with unknown time-varying delays unmatched in control inputs are related to all state variables and are compensated by choosing the appropriate Lyapunov–Krasovskii functionals and using the adaptive technique. The local memoryless controller for each subsystem is simply designed using the dynamic surface design technique, without constructing the dead-zone inverse and requiring the information of all dead-zone parameters and bounds of unknown time delays. It is shown that all signals of the controlled closed-loop systems are semi-globally uniformly bounded and each tracking error converges to an adjustable neighbourhood of the origin.

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